path

import data

read_as_df <- function(path, col_name) {
  df <- read.csv(path, header = FALSE) %>% data.frame()
  names(df) <- col_name
  return(df)
}

points <- read.csv("data/cpp_astar_path.csv")
points_pick_reg <- read.csv("data/cpp_reg_simplified.csv")
three_d_map <- read.csv("data/status.csv")
curve_points <- read.csv("data/cpp_smoothCurv.csv")

head(points)

##   x y z
## 1 1 1 1
## 2 2 2 2
## 3 3 3 3
## 4 4 4 4
## 5 5 5 5
## 6 6 6 6

head(points_pick_reg)

##    x  y  z
## 1  1  1  1
## 2 35 35 35
## 3 39 38 39
## 4 43 38 43
## 5 47 38 47
## 6 50 39 50

visiualization of the path

Following section prints out the path as lines and no map information is demonstrated.

Demonstration of path from astar:

print_points(points)

Demonstration of path after regression based selector:

print_points(points_pick_reg)

Demonstration of path of smooth curve:

print_points(curve_points)

visiualization with searched areas and blocked areas.

Following section prints out the path and blocked areas. Blocked areas are in the color of grey (#696969) Searched areas are in the color of sky-blue (#66ccff) path are in the color of red (#ff0000), the width of the path is extended to 10.

Map and non-smoothed path:

print_3D_model_path(three_d_map, points_pick_reg)

Map and smoothed path:

print_3D_model_path(three_d_map, curve_points)